| 面向虚拟现实人机协作焊接系统的运动控制策略 |
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| 引用本文： | 肖珺,温涛,陈树君,李锐.面向虚拟现实人机协作焊接系统的运动控制策略[J].焊接学报,2019,40(11):13-20. |
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| 作者姓名： | 肖珺 温涛 陈树君 李锐 |
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| 作者单位： | 北京工业大学智能成形装备及系统研究所,北京100124;汽车结构部件先进制造技术教育部工程研究中心,北京100124;哈尔滨市锅炉压力容器检验研究院,哈尔滨,150076 |
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| 摘 要： | 以发挥人的优势为目标，设计虚拟现实人机协作焊接系统的运动控制策略并研究其针对焊接任务的可靠性.远程协作焊接过程可以将空间六自由度控制器的输入信号转换为目标焊枪的位姿变化、速度变化或加速度变化.面向焊接的任务性质，设计静态位姿型、动态位姿型、速度型、加速度型四种控制策略.在虚拟现实环境下开发用于检验运动控制策略可靠性的焊接跟随试验测试分析系统，研究遥控焊枪跟随物体沿直线轨迹、曲线轨迹、空间曲线轨迹运动时，四种运动策略的跟踪精度.结果表明，动态位姿型控制策略是应用于虚拟现实人机协作焊接系统中总体表现最稳定、适应性最强的运动控制策略.
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| 关 键 词： | 人机协作焊接系统 遥控焊接 虚拟现实 控制策略 |
| 收稿时间： | 2018/12/26 0:00:00 |
Teleoperation strategy research for collaborative welding system based on virtual reality |
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| XIAO Jun,WEN Tao,CHEN Shujun and LI Rui.Teleoperation strategy research for collaborative welding system based on virtual reality[J].Transactions of The China Welding Institution,2019,40(11):13-20. |
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| Authors: | XIAO Jun WEN Tao CHEN Shujun and LI Rui |
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| Affiliation: | 1.Institute of Intelligent Forming Equipment and System, Beijing University of Technology, Beijing 100124, China;Engineering Research Center of Advanced Manufacturing Technology for Automotive Components, Ministry of Education, Beijing 100124, China2.Harbin Boiler and Pressure Vessel Inspection Research Institute, Harbin 150076, China |
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| Abstract: | Teleoperation control strategies for collaborative welding system which is targeting at giving full play to human''s superiority is designed and the fitness for teleoperation welding task of which are studied. During the teleoperation welding process, 6-DOF controller''s signal can be converted into welding torch''s position, velocity or acceleration changing which is being controlled. For welding purposes, control strategies of four modes are designed, which are static position and posture mode, dynamic position and posture mode, velocity mode and acceleration mode. A test and analysis system for testing the tracking accuracy and reliability of control strategy based on virtual reality is developed. The tracking accuracies of the four control strategies are studied in the following tests with straight line trajectory, curve trajectory or space curve trajectory. The results show that the control strategy in dynamic position and posture mode has best stability and strong adaptability which is most suitable for the teleoperation system. |
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| Keywords: | collaborative welding system teleoperation welding virtual reality control strategy |
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